Dockerfile.core

FROM ubuntu:bionic

# set up timezone
RUN echo 'Etc/UTC' > /etc/timezone && \
    ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
    apt-get update && apt-get install -q -y tzdata && rm -rf /var/lib/apt/lists/*

#set up locale
RUN apt-get update && apt-get install -y locales \
    && locale-gen en_US.UTF-8
ENV LANG en_US.UTF-8

# install base packages
RUN apt-get update && apt-get install -q -y \
    bash-completion \
    curl \
    dirmngr \
    git \
    gnupg2 \
    libasio-dev \
    libtinyxml2-dev \
    lsb-release \
    python3-pip \
    sudo \
    wget \
    && rm -rf /var/lib/apt/lists/*

# set up sources.list
RUN curl http://repo.ros2.org/repos.key | apt-key add - \
    && echo "deb [arch=amd64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" >> /etc/apt/sources.list.d/ros2-latest.list

# install packages from the ROS repositories
RUN apt-get update && apt-get install -y --no-install-recommends \
    python3-catkin-pkg-modules \
    python3-colcon-common-extensions \
    python3-rosdep \
    python3-vcstool \
    && rm -rf /var/lib/apt/lists/*

# install python packages
RUN pip3 install -U \
    argcomplete \
    flake8 \
    flake8-blind-except \
    flake8-builtins \
    flake8-class-newline \
    flake8-comprehensions \
    flake8-deprecated \
    flake8-docstrings \
    flake8-import-order \
    flake8-quotes \
    pytest-repeat \
    pytest-rerunfailures

# bootstrap rosdep
ENV ROSDISTRO_INDEX_URL https://raw.githubusercontent.com/ros2/rosdistro/ros2/index.yaml
RUN rosdep init \
    && rosdep update

# clone source
ENV PROJECT_WS /project/ws
RUN mkdir -p $PROJECT_WS/src
WORKDIR $PROJECT_WS
RUN wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos \
    && vcs import src < ros2.repos

# install dependencies
RUN apt-get update && rosdep install -y \
    --from-paths src \
    --ignore-src \
    --rosdistro bouncy \
    --skip-keys "console_bridge fastcdr fastrtps libopensplice67 rti-connext-dds-5.3.1 urdfdom_headers" \
    && rm -rf /var/lib/apt/lists/*

RUN pip3 install -U \
    transitions

RUN apt-get update && apt-get install -y \
    libopensplice67 \
    && rm -rf /var/lib/apt/lists/*

CMD ["bash"]